JP6888287B2 - crane - Google Patents

Description

The present invention relates to a crane.

Conventionally, when slinging work, the operator may not be able to visually recognize the situation around the suspended load and the suspended load due to obstacles around the crane or the suspended load. In such a case, the hook is lowered to an appropriate position while communicating with the slinging operator around the suspended load via a communication means.

As the crane described in Patent Document 1, a crane in which a suspended load monitoring camera is provided at the tip of a boom is disclosed. By operating the crane while monitoring the image from the suspended load monitoring camera, the operator can safely lift and suspend the suspended load even in a place where the suspended load cannot be seen directly. it can.

Japanese Unexamined Patent Publication No. 8-53290

When performing slinging work, the operator must place the tip of the telescopic boom on a vertical line passing through the center of gravity of the transported object in order to prevent lateral pulling and shaking of the transported object (suspended load) during ground cutting. .. However, skillful operation techniques are required to arrange the tip of the telescopic boom on a vertical line passing through the center of gravity of the transported object by the operator visually or by the image of the camera displayed on the monitor. Further, when the transported object cannot be visually recognized by the operator, the slinging operator needs to estimate the center of gravity of the transported object and move the tip of the telescopic boom of the crane on a vertical line passing through the center of gravity. Therefore, not only the operator but also the slinging worker is required to have skillful skills.
Therefore, an object of the present invention is to provide a crane capable of easily performing slinging work without relying on the skill of the operator and slinging operator.

The crane of the first aspect of the present invention is a crane that acquires three-dimensional information of a work site by using a three-dimensional information acquisition means provided on the boom, and includes a display means for displaying the three-dimensional information of the work site. , The three-dimensional information of the transported object and the hook is extracted based on the three-dimensional information of the work site, the center of gravity of the transported object is calculated based on the three-dimensional information of the transported object, and the transport is displayed on the display means. The position of the intersection of the vertical line passing through the center of gravity of the object and the surface of the transported object and the expected descent position of the hook are displayed.

According to the present invention, slinging work can be easily performed.

The side view which shows the whole structure of the crane which concerns on one Embodiment of this invention. The figure which shows the structure of the control block of the crane which concerns on one Embodiment of this invention. (A) Plan view showing the center of gravity, intersection, and expected descent position calculated based on the three-dimensional information of the transported object acquired by the stereo camera of the crane according to the embodiment of the present invention. (B) The embodiment of the present invention. Side view showing the center of gravity, the intersection, and the expected descent position calculated based on the three-dimensional information of the transported object acquired by the stereo camera of the crane according to the above (c) Acquired by the stereo camera of the crane according to the embodiment of the present invention. The perspective view which shows the center of gravity and the intersection of the transported object. (A) Plan view showing control of movement of the transported object of the crane according to the embodiment of the present invention to the center of gravity (b) Side view showing control of movement of the transported object of the crane according to the embodiment of the present invention to the center of gravity. .. (A) Plan view showing control of movement of the transported object of the crane according to the embodiment of the present invention to the center of gravity (b) Side view showing control of movement of the transported object of the crane according to the embodiment of the present invention to the center of gravity. .. The float chart figure which shows the mode of movement control to the center of gravity of the transported object of the crane which concerns on one Embodiment of this invention.

Hereinafter, the overall configuration of the crane 1 according to the embodiment of the present invention will be described with reference to FIGS. 1 and 2. The crane 1 is a mobile crane that can move to an unspecified place. The crane 1 has a vehicle 2 and a crane device 6.

The vehicle 2 conveys the crane device 6. The vehicle 2 has a plurality of wheels 3 and travels by using an engine (not shown) as a power source. The vehicle 2 is provided with an outrigger 5. The outrigger 5 is composed of an overhang beam that can be extended by flood control on both sides of the vehicle 2 in the width direction and a hydraulic jack cylinder that can be extended in a direction perpendicular to the ground. The vehicle 2 can expand the workable range of the crane 1 by extending the outrigger 5 in the width direction of the vehicle 2 and grounding the jack cylinder.

The crane device 6 hooks the transported object W on a hook and lifts it with a wire rope. The crane device 6 includes a swivel 7, a telescopic boom 8, a jib 9, a main hook block 10, a sub hook block 11, an undulating cylinder 12, a main winch 13, a main wire rope 14, a sub winch 15, a sub wire rope 16, and a stereo camera. It includes 17, a cabin 18, a 3D map generation unit 23 (see FIG. 2), a center of gravity calculation unit 24 (see FIG. 2), a control device 39 (see FIG. 2), and the like.

The swivel base 7 is configured to allow the crane device 6 to swivel. The swivel base 7 is provided on the frame of the vehicle 2 via an annular bearing. The annular bearing is arranged so that its center of rotation is perpendicular to the installation surface of the vehicle 2. The swivel base 7 is configured to be rotatable in one direction and the other direction with the center of the annular bearing as the center of rotation. Further, the swivel base 7 is configured to be rotated by a hydraulic swivel motor. The swivel base 7 is provided with a swivel position detection sensor 40 (see FIG. 2) that detects the swivel position.

The telescopic boom 8 supports the wire rope so that the conveyed object W can be lifted. The telescopic boom 8 is composed of a plurality of boom members, a base boom member 8a, a second boom member 8b, a third boom member 8c, a force boom member 8d, a fifth boom member 8e, and a top boom member 8f. Each boom member is nested in the order of the size of the cross-sectional area. The telescopic boom 8 is configured to be telescopic in the axial direction by moving each boom member with a telescopic cylinder (not shown). The telescopic boom 8 is provided so that the base end of the base boom member 8a can swing on the swivel base 7. As a result, the telescopic boom 8 is configured to be horizontally rotatable and swingable on the frame of the vehicle 2. The telescopic boom 8 is provided with a telescopic boom length detection sensor 41 (see FIG. 2) for detecting the boom length and an undulation angle detection sensor 42 (see FIG. 2) for detecting the undulation angle.

As shown in FIG. 1, the jib 9 expands the lift and working radius of the crane device 6. The base end of the jib 9 is configured to be connectable by driving a pin (not shown) into the jib support portion 8g of the top boom member 8f. The jib 9 is held in a posture protruding from the tip of the top boom member 8f in a direction in which the lift and working radius are expanded.

The main hook block 10 suspends the conveyed object W. The main hook block 10 is provided with a plurality of hook sheaves around which the main wire rope 14 is wound and a main hook 10a for suspending the conveyed object W. The sub-hook block 11 suspends the conveyed object W. The sub-hook block 11 is provided with a sub-hook 11a for suspending the conveyed object W.

The undulating cylinder 12 erects and lays down the telescopic boom 8 to maintain the posture of the telescopic boom 8. The undulating cylinder 12 is composed of a hydraulic cylinder including a cylinder portion and a rod portion. In the undulating cylinder 12, the end of the cylinder portion is swingably connected to the swivel base 7, and the end of the rod portion is swingably connected to the base boom member 8a of the telescopic boom 8. In the undulating cylinder 12, the base boom member 8a is raised by supplying hydraulic oil so that the rod portion is pushed out from the cylinder portion, and the hydraulic oil is supplied so that the rod portion is pushed back to the cylinder portion. The boom member 8a is configured to lie down.

The main winch 13, which is a hydraulic winch, carries in (winds up) and unwinds (rolls down) the main wire rope 14. The main winch 13 is configured such that the main drum around which the main wire rope 14 is wound is rotated by a main hydraulic motor. The main winch 13 pays out the main wire rope 14 wound around the main drum by supplying hydraulic oil so that the main hydraulic motor rotates in one direction, and the main hydraulic motor rotates in the other direction. By supplying the hydraulic oil in this way, the main wire rope 14 is wound around the main drum and fed in.

The sub winch 15, which is a hydraulic winch, feeds and feeds the sub wire rope 16. The sub winch 15 is configured such that a sub drum around which the sub wire rope 16 is wound is rotated by a sub hydraulic motor. The sub winch 15 is supplied with hydraulic oil so that the sub hydraulic motor rotates in one direction, so that the sub wire rope 16 wound around the sub drum is unwound so that the sub hydraulic motor rotates in the other direction. The sub-wire rope 16 is wound around the sub-drum and fed in by supplying the hydraulic oil to the sub-drum. The sub-wire rope 16 is suspended downward via a sub-hook sheave 16a provided at the tip of the top boom member 8f of the telescopic boom 8.

The stereo camera 17 is provided as a three-dimensional information acquisition means, and acquires an image (video) of a work site. The stereo camera 17 is provided at the tip of the top boom member 8f of the telescopic boom 8 or at the tip of the jib 9. The stereo camera 17 is arranged on the top boom member 8f via an actuator for changing its posture. The stereo camera 17 is configured to be swingable with an axis parallel to the swing axis of the telescopic boom 8 as the swing center. As a result, the stereo camera 17 is configured to be able to capture an image vertically downward from the installation position regardless of the tilt angle of the telescopic boom 8 or the tilt angle of the jib 9. The stereo camera 17 is composed of at least two or more cameras. Specifically, the stereo camera 17 is composed of one reference camera and one or a plurality of comparison cameras (one in the present embodiment). The stereo camera 17 is connected to the 3D map generation unit 23 so that the captured image can be transmitted to the 3D map generation unit 23.

The cabin 18 covers the cockpit. The cabin 18 is provided on the side of the telescopic boom 8 on the swivel base 7. A cockpit is provided inside the cabin 18. To move the main operating valve for operating the main winch 13, the sub operating tool for operating the sub winch 15, the undulating operating tool for operating the telescopic boom 8, and the crane 1 to the driver's seat. The handle, the touch panel 19, (see FIG. 2), the monitor 20, (see FIG. 2), and the like are provided.

The crane 1 configured in this way can move the crane device 6 to an arbitrary position by traveling the vehicle 2. Further, in the crane 1, the telescopic boom 8 is erected at an arbitrary undulating angle by the undulating cylinder 12, and the telescopic boom 8 is extended to an arbitrary boom length or the jib 9 is connected to lift the crane device 6. And the working radius can be expanded.

The 3D map generation unit 23 acquires point cloud data based on an image taken by the stereo camera 17 at the work site of the crane 1 and generates a 3D map. Specifically, the 3D map generation unit 23 first compares each image simultaneously taken by the reference camera and the comparison camera constituting the stereo camera 17, and estimates the distance of each pixel of the reference camera. Acquires three-dimensional information (three-dimensional information represented by the camera coordinate system) of an object. Next, the 3D map generation unit 23 converts the three-dimensional information represented by the camera coordinate system into the three-dimensional information represented by a predetermined reference coordinate system (for example, the global coordinate system). The three-dimensional information here refers to point cloud data represented by three-dimensional coordinate values of an object captured by the stereo camera 17. The point cloud data is configured to include color information. The 3D map generation unit 23 stores in advance the position information of the stereo camera 17 with respect to the crane 1 based on the boom turning angle, the boom undulation angle, and the boom length.

The 3D map generation unit 23 uses the three-dimensional information (point cloud data) of the transported object W by object recognition from the three-dimensional information (point cloud data) represented by a predetermined reference coordinate system acquired by using the stereo camera 17. Is configured to be identifiable. The object recognition method of the transported object W may be an appearance-based object recognition or a model-based object recognition.

Although the stereo camera 17 is used as the three-dimensional information acquisition means, the present invention is not limited to this, and for example, a laser scanner may be used. When a laser scanner is used, the measurement distance may be calculated from the time required for reflection on the object to be measured and returned, or the measurement distance may be calculated from the phase difference of a plurality of laser wavelengths.

The 3D map generation unit 23 may generate a 3D map by converting the three-dimensional information acquired by using the stereo camera 17 into data representing the 3D structure of the object surface. Further, the 3D map generation unit 23 adds image data captured by a photographing means such as a stereo camera 17 to the point cloud data represented by a predetermined reference coordinate system acquired by using the stereo camera 17 for each display area. A 3D map may be generated by pasting the separated image data.

A touch panel 19 is connected to the 3D map generation unit 23 as an input device. The touch panel 19 is used for selecting an image to be displayed on the monitor 20, which will be described later, and for extracting the conveyed object W and the sub-hook 11a.

The center of gravity calculation unit 24 is connected to the 3D map generation unit 23, and the three-dimensional information (three-dimensional shape) of the transported object W extracted from the three-dimensional information acquired by the 3D map generation unit 23 or the transport acquired from the outside. The center of gravity G of the transported object W is calculated based on the three-dimensional information (three-dimensional shape) of the object W. Here, the center of gravity G of the transported object W is calculated as a coordinate value in a predetermined reference coordinate system.

The center of gravity calculation unit 24 calculates the center of gravity G of the transported object W based on the three-dimensional information (three-dimensional shape) of the transported object W. When the transported object W is made of one material, the center of gravity calculation unit 24 calculates the center of gravity G from the three-dimensional information (three-dimensional shape) of the transported object W. When the transported object W is composed of a plurality of materials, the transported object W is divided for each material. In this case, the transported object W may be divided, for example, based on the color information (RGB information) captured by the stereo camera 17, or may be executed by designating a point or a region on the touch panel 19. Good. Then, the operator inputs the material data into each divided portion on the touch panel 19 to calculate the center of gravity G of the transported object W.

A monitor 20 is connected to the center of gravity calculation unit 24 as an output device. The monitor 20 can display an image taken by the stereo camera 17 in real time, or can display a 3D map created based on the image taken by the stereo camera 17 from an arbitrary viewpoint.

In the above configuration, the image captured by the stereo camera 17 in real time can be processed by the 3D map generation unit 23 to create a 3D map and display it on the monitor 20. Therefore, for example, even at a location (blind spot portion) that becomes a blind spot from the cockpit of the crane 1, a 3D map from a desired viewpoint is displayed on the monitor 20, and while checking the blind spot portion on the monitor 20, the transported object W Lifting work etc. can be performed safely.

The control device 39 is for crane work in which various actuators are operated by the operation of the operator of the crane 1.

The control device 39 is connected to the swivel operation valve 25, and can selectively excite the electromagnet of the swivel operation valve 25 to change the boom swivel angle.

The control device 39 is connected to the undulation operation valve 26, and the electromagnet of the undulation operation valve 26 can be selectively excited to change the boom undulation angle.

The control device 39 is connected to the boom expansion / contraction operation valve 27, and the electromagnet of the boom expansion / contraction operation valve 27 can be selectively excited to change the boom length.

The control device 39 is connected to the swivel position detection sensor 40 of the swivel base 7, and can acquire the swivel direction and the swivel angle of the swivel base 7 detected by the swivel position detection sensor 40.

The control device 39 is connected to the expansion / contraction boom length detection sensor 41 of the expansion / contraction boom 8 and the undulation angle detection sensor 42, and the boom length and undulation angle detection sensor 42 of the expansion / contraction boom 8 detected by the expansion / contraction boom length detection sensor 41. Can acquire the undulation angle of the telescopic boom 8 detected by.

The control device 39 is connected to the center of gravity calculation unit 24. The control device 39 is configured to be able to acquire the 3D map data generated by the 3D map generation unit 23 and the center of gravity G of the transported object W acquired by the center of gravity calculation unit 24.

A method of displaying the center of gravity G of the transported object W will be described with reference to FIG.
A 3D map is displayed on the monitor 20, and the intersection P1 between the vertical line of the center of gravity G calculated by the center of gravity calculation unit 24 and the surface of the transported object W is displayed on the transported object W on the monitor 20. .. The intersection P1 serves as a mark when the operator aligns the tip of the sub-hook 11a or the telescopic boom 8 with the center of gravity G. Of the center of gravity G of the transported object W, the coordinate component in the vertical direction is moved vertically upward, and the position where it intersects the surface of the transported object W is calculated as the intersection point P1. In the present embodiment, the upper surface of the transported object W is formed as an inclined surface, and the intersection P1 is displayed at a predetermined position on the inclined surface on the vertical line of the center of gravity G of the transported object W (see FIG. 3C). ).

As described above, by displaying the intersection P1 on the 3D map displayed on the monitor 20, the operator can easily see the center of gravity G.

The stereo camera 17 is provided so that the sub hook 11a can be photographed. The 3D map generation unit 23 is configured to be able to extract the sub hook 11a from the acquired three-dimensional information by object recognition, and the position of the locking portion of the sub hook 11a with respect to the crane 1 based on the three-dimensional information of the sub hook 11a. Information can be calculated.

As shown in FIG. 3, the expected descent position P2 of the sub hook 11a is displayed in the three-dimensional information displayed on the monitor 20 when the slinging operation is performed. The expected descent position P2 of the sub hook 11a refers to a point where the vertical line at the locking portion of the sub hook 11a intersects the surface of the transported object W or the ground surface around the transported object W. The locking portion in the sub hook 11a refers to a position where the sling wire rope is locked when the sub hook 11a is hooked on the conveyed object W.

As described above, by displaying the expected descent position of the sub hook 11a on the 3D map displayed on the monitor 20, the operator can easily grasp the position of the sub hook 11a with respect to the conveyed object W, which is desired. The sub hook 11a can be moved to the position of. Further, since the intersection point P1 and the expected descent position P2 of the sub hook 11a are displayed on the 3D map displayed on the monitor 20, the slinging work can be performed more easily.

In the present embodiment, it is assumed that the slinging work is performed using the sub hook 11a, but the present invention is not limited to this. For example, when slinging work is performed using the main hook 10a, the expected descent position of the main hook 10a can be displayed in the same manner.

A mode of movement control for arranging the tip of the telescopic boom 8 on a vertical line passing through the center of gravity G of the conveyed object W will be described with reference to FIGS. 4, 5 and 6. The tip of the telescopic boom 8 refers to a position where the sub wire rope 16 is hung on the sub hook sheave 16a located at the tip of the top boom member 8f or the jib 9. In the following, movement control is performed by determining whether or not there is an influence on the sub hook 11a due to an external force such as wind.

The control device 39 detects the swivel position detection sensor 40, the telescopic boom length detection sensor 41, and the undulation angle detection sensor 42, and determines the position of the tip of the telescopic boom 8 from the position of the swivel fulcrum of the swivel table 7 stored in advance. It is configured to be calculable. Further, the control device 39 is configured to be able to acquire the position information of the locking portion of the sub hook 11a from the 3D map generation unit 23.

The control device 39 is configured to be able to detect the slinging work completion signal. When the slinging operator completes the slinging work of the transported object W to the sub hook 11a, for example, the operator or the slinging operator presses the slinging completion switch (not shown) to transmit the slinging work completion signal to the control device 39. The slinging work completion signal is not limited to a switch or the like, but may be a sensor or the like.

The control device 39 determines whether or not there is an influence of an external force such as wind based on the horizontal separation distance D between the tip end portion of the telescopic boom 8 and the locking portion of the sub hook 11a. The control device 39 compares the separation distance D with a predetermined reference value to determine whether or not an external force such as wind has an effect on the sub hook 11a. The predetermined reference value is a value that is arbitrarily set. In the present embodiment, assuming that the tip of the telescopic boom 8 is arranged on the vertical line of the center of gravity G of the transported object W, the predetermined reference value is that the sub hook 11a is near the center of gravity G of the transported object W when viewed from vertically above. It is set as a value that fits in.

As shown in FIG. 4, when the separation distance D is equal to or less than a predetermined reference value, the control device 39 determines that the sub hook 11a is not affected by an external force such as wind, and does not consider the influence of an external force such as wind. Implement movement control. When the control device 39 determines that the separation distance D is equal to or less than a predetermined reference value, the boom turning angle and the boom are arranged so that the tip of the telescopic boom 8 is arranged on the vertical line passing through the center of gravity G of the conveyed object W. Control at least one of the undulation angle and boom length.

In the above configuration, since the influence of external force such as wind can be ignored, the sub hook 11a is arranged at the center of gravity G of the conveyed object W by arranging the tip of the telescopic boom 8 on the vertical line passing through the center of gravity G of the conveyed object W. can do. Therefore, it is not necessary for the slinging work to estimate the center of gravity G of the transported object W, and the slinging work at an appropriate position can be easily realized. Further, the tip of the telescopic boom 8, the sub-hook 11a, and the center of gravity G of the conveyed object W are arranged on a vertical line. Therefore, when lifting the transported object W, it is possible to prevent lateral pulling and shaking of the transported object W due to the inconsistency between the tip of the telescopic boom 8 and the center of gravity G of the transported object W, and it is possible to safely cut the ground. It can be performed.

As shown in FIG. 5, when the separation distance D is larger than a predetermined reference value, the control device 39 is determined to have an influence on the sub hook 11a due to an external force such as wind, and the influence due to an external force such as wind is taken into consideration. Implement movement control. When the control device 39 determines that the separation distance D is larger than a predetermined reference value, the boom turning angle and the boom are arranged so that the locking portion of the sub hook 11a is arranged on the vertical line passing through the center of gravity G of the conveyed object W. It is configured to control at least one of the undulation angle and boom length. Then, when the control device 39 detects the signal of the completion of the slinging work, the control device 39 has a boom turning angle and a boom turning angle so that the tip portion of the telescopic boom 8 is arranged on a vertical line passing through the center of gravity G of the conveyed object W. Control at least one of the boom undulation angle and boom length.

In the above configuration, even when the sub hook 11a is largely flowing due to an external force such as wind, the sub hook 11a is arranged on the vertical line passing through the center of gravity G of the transported object W, so that the slinging operator can perform the slinging operator on the transported object W. It is not necessary to estimate the center of gravity G, and slinging work at an appropriate position can be easily realized. Further, after the slinging work, the tip end portion of the telescopic boom 8 is arranged on a vertical line passing through the center of gravity G of the conveyed object W. Therefore, when lifting the transported object W, it is possible to prevent lateral pulling and shaking of the transported object W due to the inconsistency between the tip of the telescopic boom 8 and the center of gravity G of the transported object W, and it is possible to safely cut the ground. It can be performed.

In the following, the movement control of the transported object W of the crane 1 to the center of gravity G will be described with reference to FIG.
In step S100, when the movement control is started, the control device 39 determines whether or not the three-dimensional information (three-dimensional shape) of the conveyed object W has been acquired. When the control device 39 acquires the three-dimensional information (three-dimensional shape) of the conveyed object W, the control device 39 shifts to step S110.

In step S110, when the center of gravity calculation unit 24 calculates the center of gravity G of the transported object W from the three-dimensional information (three-dimensional shape) of the transported object W, the control device 39 shifts to step S120.

In step S120, when the movement control is started, the control device 39 calculates the horizontal separation distance D between the tip end portion of the telescopic boom 8 and the sub hook 11a, and shifts to step S130.

In step S130, the control device 39 determines whether or not the horizontal separation distance D between the acquired tip of the telescopic boom 8 and the sub hook 11a is larger than the predetermined reference value T. When the separation distance D is larger than the predetermined reference value T, the control device 39 shifts to step S140. When the separation distance D is equal to or less than the predetermined reference value T, the control device 39 shifts to step S160.

In step S140, the control device 39 controls at least one of the boom turning angle, the boom undulation angle, and the boom length so that the sub hook 11a is arranged on the vertical line passing through the center of gravity G of the conveyed object W. , Step S150.

In step S150, the control device 39 determines whether or not the slinging work completion signal has been detected. When the control device 39 detects the slinging work completion signal, the control device 39 shifts to step S160.

In step S160, the control device 39 has at least one of the boom turning angle, the boom undulation angle, and the boom length so that the tip end portion of the telescopic boom 8 is arranged on the vertical line passing through the center of gravity G of the conveyed object W. Is controlled and the process ends. As described above, since the tip of the telescopic boom 8 is arranged on the vertical line passing through the center of gravity G of the conveyed object W, when the conveyed object W is lifted, the conveyed object W is pulled horizontally or diagonally. It is possible to prevent W from being rubbed against the ground.

After the tip of the telescopic boom 8 is arranged on a straight line passing through the center of gravity G of the conveyed object W, when the sub hook 11a is moved down by the operation of the sub winch 15, the tip of the telescopic boom 8 and the sub hook 11a come into contact with each other. When the horizontal separation distance D exceeds a predetermined reference value T, the boom turning angle, the boom undulation angle, and the boom are arranged so that the sub hook 11a or the telescopic boom 8 is arranged on a straight line passing through the center of gravity G of the conveyed object W. At least one of the lengths may be appropriately controlled.

In the movement control in which the tip of the telescopic boom 8 is arranged on the vertical line passing through the center of gravity G of the conveyed object W, the conveyed object W is conveyed using the sub hook 11a, but the conveyed object W is conveyed using the main hook 10a. May be configured to transport. In this case, the tip of the telescopic boom 8 is set to the rotation center position of the main hook sheave around which the main wire rope 14 is wound.

Further, in the above embodiment, the crane 1 does not move the vehicle body. However, the crane 1 may be configured to acquire three-dimensional information around the work site while moving. In that case, the GNSS device that calculates the position information of the crane 1 is connected to the control device 39 and the 3D map generation unit 23. By acquiring the three-dimensional information based on the position information of the crane 1, the three-dimensional information around the work site can be easily acquired.

1: Crane, 8: Telescopic boom, 10a: Main hook, 11a: Sub hook, 17: Stereo camera, 20: Monitor, D: Separation distance, G: Center of gravity of transported object, P1: Intersection, P2: Expected descent position, W : Transported goods

Claims (1)

A crane that acquires 3D information on the work site using the 3D information acquisition means provided on the boom.
A display means for displaying the three-dimensional information of the work site is provided.
While extracting the three-dimensional information of the transported object and the hook based on the three-dimensional information of the work site,
The center of gravity of the transported object is calculated based on the three-dimensional information of the transported object.
A crane that displays the intersection position between the vertical line passing through the center of gravity of the transported object and the surface of the transported object and the expected descent position of the hook on the display means.

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